EP3396417A1 - Positioning system for positioning moving objects in land parcels of specialised crop areas - Google Patents

Abstract

The present invention relates to a locating system and a method for locating mobile objects in parcels of special crops, in particular wine, fruit and vegetable crops. The location system includes:
- a navigation device for receiving and processing signals of a global navigation satellite system for the determination and provision of navigation data at the location of the mobile object (2);
Transmitters (4a, 4b, 4c) installed at boundary points of the parcel piece (3), each of the transmitters (4a, 4b, 4c) emitting a unique identification number (ID),
- A database in which, the unique identification numbers (ID) of the transmitter (4a, 4b, 4c) and the assigned position coordinates of the transmitter (4a, 4b, 4c) are deposited for the respective boundary point;
a receiver for receiving the unique identification numbers (ID) sent by the transmitters (4a, 4b, 4c),
- A processing unit in which the received identification numbers (ID) of the transmitter (4a, 4b, 4c) and the navigation data obtained from the global navigation satellite system are evaluated.

Description

The present invention relates to a location system for locating mobile objects in parcels of special crops, in particular wine, fruit or vegetable crops and a method for this purpose.

Special crops exist especially in viticulture, fruit growing or vegetable growing and are characterized by a row construction in which the crops are planted along a line in the ground. The parcels or corridors between the individual cultivation lines are mostly passable by modern harvesting vehicles, such as tractors or other agricultural equipment. In viticulture such lines are created with an average distance of about 2 meters. In most cases, individual parcels can not be readily assigned to a particular owner or owner, as the acreage in many cases merge. Because of the optimal use of available land, it is difficult to see where the estate of one landowner ends and where the land of another landowner begins to process the right line of a special crop.

This becomes particularly problematic during the harvest season. Because in this time it requires a large number of workers. For this purpose, seasonal workers are often employed, some of whom work for the first time in the growing area. Here the danger is great that the seasonal workers do not recognize the boundaries of the growing area and unintentionally harvest on the land of another landowner or forget their own land. Furthermore, the workers also have difficulty finding their way around the cultivated areas and getting to their assigned area of work.

Increasingly, modern tools are being used to solve these difficulties, such as facilities based on the global navigation satellite system. However, these are subject to great restrictions in terms of their achievable accuracy, since even with good reception conditions, the resolution without correction is only about 5 to 20 meters. With a line spacing of 2 meters, and sometimes less, such satellite-based systems reach their limits and can not overcome the difficulties outlined above. This applies, for example, to the WAAS (Wide Area Augmentation System) in North America and the EGNOS (European Geostationary Navigation Overlay Service) in Europe.

There are already different solutions in the prior art for satellite-based navigation of vehicles, especially agricultural vehicles. The US 6,947,662 describes, for example, a GPS-based tracking system for an agricultural vehicle (tractor) consisting of a video camera, a GPS antenna and a GPS receiver. If the vehicle drives over a field to be cultivated, photographs of parts of the field are continuously taken. Based on the navigation data, it is possible to assign specific coordinates to the recorded images. The goal is to collect image-based navigation data.

The DE 20 2012 011 620 U1 describes a mobile data collection device for vineyards. Here, a position determination using the global navigation satellite system is provided. However, as already mentioned above, such GPS-based navigation systems are very inaccurate and therefore only badly applicable for closely spaced lines in special crops. Other solutions to this problem are not suggested in the document.

Another approach describes the WO 2016/082875 A1 in which a plurality of radio transmitters (beacons) are placed in a local environment to navigate a plurality of mobile devices from these transmitters in a local environment. Each route has a unique identification number (ID) to allow anonymous navigation of each participant. It is not intended that the transmitters, besides the route ID, send out their own identification number (ID) to identify the position of the transmitter. In terms of line construction as special crops, such a system would require a multitude of transmitters to stake out the individual routes. This represents a huge financial and logistical effort.

The US 8,988,285 B2 discloses a method and system for minimizing inaccuracies in distance measurements and location determinations in autonomous vehicles, improved navigation in an area and / or along a road or trajectory. Again, a variety of transmitters (beacons) are used. However, the goal here is autonomous driving of a vehicle.

Although the systems described in the prior art thus make it possible to navigate or guide the vehicle, they are not designed for the special needs of special crop cultivation areas.

It is therefore an object of the present invention to provide an improved location system for locating mobile objects in parcels of special crops, in particular wine, fruit or vegetable crops, as well as a method directed thereto, in which the inaccuracies of GPS-based radio systems are eliminated or at least significantly improved ,

This object is achieved by a location system for locating mobile objects in parcels of special crops, in particular wine, fruit or vegetable crops according to claim 1 and a method according to claim 7. Preferred embodiments can be found in the subclaims again.

The basic idea of the present invention is to improve the (inaccurate) signals and data generated therefrom by global navigation satellite systems by installing radio transmitters, preferably beacons, at the corners of parcels, with the aid of which the errors and inaccuracies of the global navigation data are eliminated. According to the invention, the position coordinates of a moving object obtained from the global navigation satellite system are transformed to lie within a row of the parcel, thereby guiding the owner of a mobile locator to the beginning of a parcel or from the beginning of a parcel line to its end.

Preferably, the mobile location device is a mobile communication device, such as a smart phone or other portable device, that is transported or installable in an agricultural vehicle. The radio transmitters (or transmitters) of the limit points are equipped with a unique identification number (ID), which in turn is stored with its exact position coordinates in a database. This may be a local database in the mobile communication device or a central database, for example, stored on a server. In a centralized database, a data transmission takes place via a network, for example via the Internet. Preferably, calculated navigation data are stored, which are generated by a combination of the individual vertices of a line of the parcel. With the individual position coordinates, one obtains an interpolated position line, which is located within a passable corridor of a parcel located.

The obtained navigation data of the global navigation satellite system generates a point cloud with the individual position coordinates within a certain radius. Due to the narrow row construction of 2 meters or less, most of these point coordinates are out of the target range, i. not within the line of the parcel to be processed. With the help of the transmitter, the inaccurate navigation data is now transformed from the setpoint range into the actual range via the links in the database. This is preferably done using a mathematical approximation method or an algorithm that on the one hand evaluates the navigation data of the global navigation satellite system, on the other hand, but also the transmitter signals of the nearest transmitter. Their specific ID allows them to identify the closest transmitters.

The location system according to the invention thus comprises first a navigation device for receiving and processing signals of a global navigation satellite system for the determination and provision of navigation data at the location of the mobile object. This may, for example, be a tractor or a human harvesting assistant equipped with the locating system. For the purposes of the present invention, a "movable object" thus comprises people or devices which are equipped with the locating system according to the invention.

Furthermore, the location system comprises at least one transmitter which is installed at a corner point and emits an electromagnetic signal. Preferred are two or more transmitters installed at least at the border points of the parcel, each of which emits a unique identification number (ID). Furthermore, a database is provided in which the unique identification numbers (ID) of the transmitters and the position coordinates assigned to the transmitters are stored for the respective limit point.

A receiver serves to receive the unique identification numbers transmitted by the individual transmitters. A processing unit evaluates the navigation data obtained from the global navigation satellite system. Preferably, the processing unit required for this purpose is located directly in the mobile communication device or is part of a software. The processing unit replaces the navigation data obtained via the global navigation satellite system at the location of the mobile object with corrected position coordinates which interpolated on the position coordinates stored in the database of the limit points of the nearest stations or thereof Navigation data based. Preferably, for this purpose, the satellite-based navigation data are first subjected to a regression analysis in order to obtain an average value which comes as close as possible to the actual position of the mobile object. The position coordinates of the respective transmitters are preferably determined by an initial cartography. This can be done, for example, via high performance GNSS receivers using third-party reference data. Through these measures, the inaccuracy of a global navigation signal of a conventional GPS system can be eliminated.

Preferably, the transmission range of the individual transmitters is limited. In a preferred variant, it is provided that the receiving unit of a receiver evaluates the field strength of the individual transmitters so as to determine which transmitters are closest to the moving object. Preferably, harmonized field strengths are provided by the transmission powers of the individual transmitters are adapted so that they have identical or at least almost similar field strengths. Preferably, the transmitters operate in a frequency range of 140 MHz to 70 GHz, preferably between 2 GHz and 6 GHz. Frequencies in the VHF band, the UHF band or the ISM band are therefore preferred. In the latter case, the use of "Bluetooth" has proved to be particularly advantageous as a beacon frequency, since many smartphones or mobile devices are already equipped with a corresponding transmitter and receiver unit. However, the use of wireless LAN (WLAN) is also possible. The number of transmitters depends on the type and construction of the respective parcel. In a preferred variant, however, it is provided that the transmitters are located at least at the vertices of a parcel. It may be sufficient that the transmitters are only positioned at the beginning and at the end of a corridor. Alternatively, two or n transmitters may also be arranged diagonally offset from one another at two or n parcel corner points, where n represents the number of vertices.

It can be problematic if there are four or more possible accesses to a parcel, so that therefore preferably four or more transmitters are positioned at the four possible vertices.

If the position of the moving object is confirmed by the ID of a transmitter in combination with the respective database entry, the system knows where the object is at the time of the query. In this way, it is also possible to plan a control system in which individual transmitters are arranged along the respective path. In this case, a route optimization based on the order of the parcels to be processed is possible. The transmitters then serve as markers for moving the respective moving objects through the corridors conduct.

In addition, it is advantageous that in a preferred variant the processing unit recognizes the moving direction of the moving object by transforming the obtained navigation data of the navigation satellite system with the position coordinates of the transmitters stored in the database so as to obtain corrected position coordinates corresponding to the actual position of the mobile as close as possible to the moving object. The corrected position coordinates then correspond to the actual value that marks the actual position.

It is further preferred that the representation of the corrected position coordinates obtained via the transformation of the navigation data takes place on a digital map on the mobile object, so that the user can also graphically recognize his current position. This can be, for example, the display of a smartphone or a GPS device.

In a preferred embodiment, a visual or audible alarm device is provided which emits a visual or audible signal when a previously defined endpoint of a parcel is reached by the moving object. Thus, the user is warned when he reaches the beginning or the end of a corridor line or, for example, if he should unintentionally leave his workspace.

The present invention also provides a method for locating mobile objects in parcels of special crops, in particular wine, fruit or vegetable crops, for example asparagus or hop crops. In the method according to the invention, individual boundary points of a parcel are first mapped and point coordinates are determined for these boundary points, which are stored in a database. In a further step, the method provides that transmitters are placed at the boundary points of the parcel, with each transmitter emitting a unique identification number (ID).

Preferably, at least two transmitters are used, which delimit the parcel piece diagonally offset at two Flureckpunkten. In a preferred variant, four transmitters are used at corresponding limit points. Other variants provide that individual boundary points of rows of a parcel are equipped with transmitters. Again, a diagonally offset arrangement of the transmitters would work so that a zigzag pattern would be created if the transmitters were connected by a line.

The identification numbers (ID) of the transmitters are linked to the associated position coordinates of the limit points in a database. The method further provides that the identification numbers (ID) are received by the transmitters within reach in the parcel and compared with the position coordinates stored in the database. Further, a satellite-based navigation signal is also received at the location of the mobile object to obtain navigation data. In a further step, the alignment of the received navigation data with the aid of the stored position coordinates of the nearest transmitter takes place in order to obtain the actual position of the mobile object. For this purpose, the navigation data of the location of the mobile object obtained via the navigation satellite system are replaced by interpolated position coordinates. These are based on the stored in the database position coordinates of the boundary points of the nearest transmitter or on interpolated position coordinates, which were determined for example on the basis of a straight line connecting two transmitters.

In a variant of the method it is also sufficient if the position of a transmitter is mapped, so that the software can calculate the proximity position and thus position of the mobile object (for example the agricultural vehicle).

The method according to the invention makes it possible for non-experts to find and edit a parcel exactly. By eliminating inaccuracies in the navigation data obtained via the global navigation satellite system, it is possible for a worker to edit line by line the attachment lines associated with the particular parcel to be processed, without forgetting lines or editing foreign lines not belonging to the parcel. The actual position of the moving object can also be transmitted to a central server, so that the work processes can be monitored. In addition, the system enables the acquisition of the already processed special crops.

It has proved to be advantageous, in particular for short parcels during the transformation, to carry out a regression analysis with the navigation data obtained from the navigation satellite system. This analysis also allows the position of the moving object to be precisely determined, even if it leaves the transmitter range of the nearest transmitter, since the moving object follows the course of the regression line or the regression curve at a determinable speed.

Preferably, the transformation of the navigation data obtained via the satellite system takes place in such a way that, based on the position coordinates, the transmitter and the optionally obtained interpolation straight line corrected position coordinates are obtained, which correspond to the actual position of the movable object or at least come as close as possible. This transformation ensures a correct assignment of the line in which the moving object is currently located at the time of storage.

In a preferred variant, the determination of the nearest transmitter of a parcel is based on the signal strength. As a result, even in the case of superposed signals, only those transmitters which are closest to the actual position of the moving object are taken into account. The nearest position of the movable object to a transmitter is preferably determined by a distance measurement of the shortest path.

The method according to the invention is suitable not only for route execution but also for route optimization. Guiding points are the individual transmitters of the vertices as well as their ID.

The invention will be explained in more detail in the following embodiments.

FIG. 1 shows an embodiment of the locating system 1 according to the invention for locating movable objects 2 in parcels 3, which are created in row construction.

The location system 1 according to the invention makes it possible to eliminate the inaccuracies of a global satellite-based system. The inaccuracy of the navigation data is indicated by the cloud 6 by way of example. The transmitters 4a, 4b and 4c of the locating system 1 are located at least at the beginning and at the end of a line, preferably at the outermost four corner points of the parcel 3. The transmitter 4a designates the nearest transmitter, while the transmitters 4b and 4c mark the corner points.

Each of the transmitters 4a, 4b, 4c transmit a unique ID for the respective transmitter, which was previously linked in a database with the associated point coordinate of the respective vertex. Upon successful reception of the ID and successful alignment with the database, we eliminate the inaccuracy of the navigation data obtained by the navigation satellite system and define the actual position as a new actual value. The receiver of the mobile communication device (eg smartphone) is preferably equipped with a GNSS receiving unit, and records the individual point coordinates in very short intervals. Due to the inaccuracy mentioned above, however, these deviate considerably. However, a processing unit already calculates the transformation and thus recognizes the direction. The same operation also occurs when changing direction. For very short parcels, preferably a linear regression analysis is used.

A global navigation satellite signal and the identification numbers (IDs) of the transmitters 4a, 4b and 4c arranged in the parcel 3 are received via a mobile communication device of a mobile object 2, in particular a smartphone, in which the actual position of the mobile object 2 is displayed on a display 7 becomes.

The position coordinates of the respective transmitters are determined by an initial cartography. This can be done, for example, via high performance GNSS receivers using third-party reference data.

The transmitters 4a, 4b and 4c continuously or at a defined time interval each transmit their unique ID within a defined frequency with a specific transmission power or field strength. If the transmitters transmit at different transmission frequencies, they can transmit the ID at the same time. In a preferred variant, however, it can also be provided that the transmitters 4a, 4b and 4c transmit their identification successively, i. time-shifted, send on the same transmission frequency. By way of example, the range of the transmitter 4a with the dot radius 5 is shown.

A further development of the location system provides for several acreage that transmitters of each acreage emit their ID with a unique and this acreage associated transmission frequency.

In the example shown, the receiver of the moving object 2 receives the transmission signal of the transmitter 4a and the transmission signals of the transmitters 4b and 4c. In the received transmission signals, the respective unique IDs are encoded. The processing unit reads the unique identification numbers from the transmission signals and assigns these to the position coordinates stored in the database. The assigned position coordinates are interpolated by the processing unit. The interpolated position coordinates replace the navigation data at the location of the moving object 2, whereby a very accurate determination of the location of the moving object 2 is possible.

The arrow on the moving object 2 indicates the moving direction of the moving object 2. It moves away from the transmitter 4a and moves along the line straight to the transmitter 4c. If individual transmitters are reached, they can be confirmed, ie the system recognizes that the relevant transmitter has just been passed by the moving object 2. If required, this can also trigger an audible or visual alarm. Should now move the moving object 2 in one direction, at If one line of a parcel 3 is not marked by transmitters 4a, 4b or 4c, the worker knows that this line should not be processed.

The locating system according to the invention and the method offer the advantage that even non-locals can accurately perform a processing of the respective parcels 3. The uninitiated knows exactly which parcel to work on, when it starts, and when it stops. This prevents individual rows of a parcel from being forgotten and increases crop yield.

Claims (15)

Location system for locating mobile objects in parcels of special crops, in particular wine, fruit or vegetable crops, comprising - a navigation device for receiving and processing signals of a global navigation satellite system for the determination and provision of navigation data at the location of the mobile object (2); Transmitters (4a, 4b, 4c) installed at boundary points of the parcel piece (3), each of the transmitters (4a, 4b, 4c) emitting a unique identification number (ID), - A database in which, the unique identification numbers (ID) of the transmitter (4a, 4b, 4c) and the assigned position coordinates of the transmitter (4a, 4b, 4c) are deposited for the respective boundary point; a receiver for receiving the unique identification numbers (ID) sent by the transmitters (4a, 4b, 4c), a processing unit in which the received identification numbers (ID) of the transmitters (4a, 4b, 4c) and the navigation data obtained from the global navigation satellite system are evaluated, characterized in that the processing unit obtains the navigation data obtained via the global navigation satellite system at the location of the mobile object (2) with interpolated position coordinates based on the position coordinates of the nearest transmitter's boundary points (4a, 4b) stored in the database to obtain the actual position of the mobile object (2) replaced. Positioning system according to claim 1, characterized in that in the parcel (3) positioned transmitter (4a, 4b, 4c) emit a signal in the frequency range of 140 MHz to 70 GHz, preferably between 2 GHz and 6 GHz. Locating system according to claim 1 and 2, that the processing unit recognizes the direction of movement of the mobile object (2) by transforming the obtained navigation data of the navigation satellite system with the stored in the database position coordinates of the transmitter (4a, 4b, 4c), so corrected position coordinates obtained as close as possible to the actual position of the movable object (2). Location system according to Claim 3, characterized in that the representation of the corrected position coordinates obtained via the transformation of the navigation data takes place on a digital map on the mobile object. Positioning system according to one of claims 1 to 4, characterized in that a visual or audible alarm device is provided which emits a visual or audible signal when a previously defined end point of a parcel piece (3) is reached by the moving object (2). Location system according to one of claims 1 to 5, characterized in that the reception of the global navigation satellite signal and the unique identification numbers of the parcel (3) arranged transmitter (4a, 4b, 4c) via a mobile communication device, in particular a smartphone (7), takes place , which is further equipped with the processing unit and the database, so as to display the actual position on the display of the smartphone. Method for locating mobile objects in parcels of special crops, in particular wine, fruit or vegetable crops, comprising the following steps: - mapping individual boundary points of a parcel (3) and determining point coordinates for these boundary points for storage in a database, Placing transmitters (4a, 4b, 4c) at border points of the parcel (3), each transmitter sending out a unique identification number (ID), Linking the identification numbers (ID) of the transmitters with the associated position coordinates of the limit points in a database, Receiving the identification numbers (ID) from the transmitters (4a, 4b, 4c) located in the parcel (3), Comparing the identification numbers (ID) received by the transmitters (4a, 4b, 4c) with the position coordinates stored in the database, Receiving a satellite-based navigation signal at the location of the mobile object (2) for obtaining navigation data, - Matching of the received navigation data using the stored position coordinates of the nearest transmitter (4a, 4b) to obtain the actual position of the mobile object (2), wherein the obtained via the navigation satellite system navigation data of the location of the mobile object (2) with interpolated position coordinates based on the stored in the database position coordinates of the boundary points of the nearest transmitter (4a, 4b) are replaced. A method according to claim 7, characterized in that the positioning of the transmitter (4a, 4b, 4c) takes place at least at the beginning and end of a line, preferably at the outermost four corner points of the parcel piece (3). A method according to claim 7 or 8, characterized in that the interpolation of the position coordinates at the location of the movable object (2) by a linear regression of the known position coordinates of the transmitter (4a, 4b, 4c) takes place at the boundary points. Method according to one of claims 7 to 9, characterized in that the direction of movement of the mobile object (2) is detected by the obtained navigation data of the navigation satellite system with the stored in the database position coordinates of the nearest transmitter (4a, 4b) are transformed so to obtain corrected position coordinates about the actual position of the moving object (2). Method according to one of claims 7 to 10, characterized in that during the transformation, a regression analysis with the obtained navigation data of the navigation satellite system is performed. A method according to claim 11, characterized in that the transformation of the navigation data takes place so that the corrected position coordinates of the movable object (2) lie within a row of the nearest parcel (3). Method according to one of claims 7 to 12, characterized in that the nearest transmitter (4a, 4b) of a parcel piece (3) are determined based on their signal strength. A method according to any one of claims 7 to 13, characterized in that the mapping of the boundary points of the parcel (3) and the determination of point coordinates for these boundary points via a GNSS receiver with high accuracy using reference data of a third party. Method according to one of Claims 7 to 14, characterized in that a plurality of position coordinates assigned on the path of the mobile object and / or navigation coordinates replaced by position coordinates and / or transformed navigation coordinates are stored in a database of the mobile object and / or sent to a monitoring system, to use this data to perform a route optimization.

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